renaming and reformating intake, adding ids

grt192 · Jan 31, 2024 · a354be7 · a354be7
1 parent 44660a3
commit a354be7
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Showing 10 changed files with 70 additions and 72 deletions.
diff --git a/.vscode/settings.json b/.vscode/settings.json
@@ -25,5 +25,6 @@
       }
     },
   ],
-  "java.test.defaultConfig": "WPIlibUnitTests"
+  "java.test.defaultConfig": "WPIlibUnitTests",
+  "java.jdt.ls.vmargs": "-XX:+UseParallelGC -XX:GCTimeRatio=4 -XX:AdaptiveSizePolicyWeight=90 -Dsun.zip.disableMemoryMapping=true -Xmx4G -Xms100m -Xlog:disable"
 }
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -66,11 +66,11 @@ public static class SwerveConstants {
     public static final Translation2d BR_POS = new Translation2d(MODULE_DIST, -MODULE_DIST);
   }
 
-  public static class RollerandPivotConstants {
-    public static final int lastmotorID = 0;
-    public static final int topmotorID = 2;
-    public static final int bottommotorID = 3;
-    public static final int motor1ID = 1;
+  public static class IntakeConstants {
+    public static final int INTEGRATION_MOTOR_ID = 19;
+    public static final int FRONT_MOTOR_ID = 17;
+    public static final int BACK_MOTOR_ID = 18;
+    public static final int PIVOT_MOTOR_ID = 16;
 
     public static final int sensorID = 0;
     public static final int extendedlimitswitchID = 1;

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -37,13 +37,14 @@
 
 public class RobotContainer {
   // The robot's subsystems and commands are defined here...
-    private final IntakeRollersSubsystem intakeSubsystem  = new IntakeRollersSubsystem();
     private final BaseDriveController driveController = new DualJoystickDriveController();
     private final BaseSwerveSubsystem baseSwerveSubsystem;
 
     private final IntakePivotSubsystem intakePivotSubsystem;
-    private final ShooterFlywheelSubsystem shooterSubsystem;
-    private final ShooterFeederSubsystem feederSubsystem;
+    private final IntakeRollersSubsystem intakeRollerSubsystem  = new IntakeRollersSubsystem();
+
+    private final ShooterFlywheelSubsystem shooterFlywheelSubsystem;
+    private final ShooterFeederSubsystem shooterFeederSubsystem;
     private final ShooterPivotSubsystem shooterPivotSubsystem;
 
     private final ClimbSubsystem climbSubsystem;
@@ -56,6 +57,7 @@ public class RobotContainer {
     private final JoystickButton rightBumper = new JoystickButton(mechController, XboxController.Button.kRightBumper.value);
     private final JoystickButton xButton = new JoystickButton(mechController, XboxController.Button.kX.value);
     private final JoystickButton yButton = new JoystickButton(mechController, XboxController.Button.kY.value);
+
     //private final JoystickButton xButton = new JoystickButton(mechController, XboxController.Button.kX.value);
 
     ChoreoTrajectory traj;
@@ -68,10 +70,10 @@ public RobotContainer() {
         // baseSwerveSubsystem = new TestSingleModuleSwerveSubsystem(module);
       baseSwerveSubsystem = new SwerveSubsystem();
       intakePivotSubsystem = new IntakePivotSubsystem();
-      feederSubsystem = new ShooterFeederSubsystem();
+      shooterFeederSubsystem = new ShooterFeederSubsystem();
 
       shooterPivotSubsystem = new ShooterPivotSubsystem(false);
-      shooterSubsystem = new ShooterFlywheelSubsystem();
+      shooterFlywheelSubsystem = new ShooterFlywheelSubsystem();
 
       climbSubsystem = new ClimbSubsystem();
 
@@ -84,54 +86,49 @@ public RobotContainer() {
 
     private void configureBindings() {
 
-        /**
-         * Right trigger - run pivot forward at speed pulled
-         * Left trigger - run pivot backward at speed pulled
-         * A button - run flywheels while button held
-         * B button - run feed wheels while button held
-         */
-
-        // aButton.onTrue(new LoadNoteCommand(feederSubsystem));
-
-        // bButton.onTrue(new ShootNoteCommand(feederSubsystem));
-
-        // leftBumper.onTrue(new AutoAimCommand(pivotSubsystem));
-
-        // rightBumper.onTrue(new VerticalCommand(pivotSubsystem));
-
-        // xButton.onTrue(new ReadyShooterCommand(shooterSubsystem));
-
-        // yButton.onTrue(new StopShooterCommands(shooterSubsystem));
-
-        intakePivotSubsystem.setDefaultCommand(new InstantCommand(() -> {
-            intakePivotSubsystem.setPivotSpeed(-mechController.getLeftTriggerAxis());
-        }));
-
-        shooterSubsystem.setDefaultCommand(new InstantCommand(() -> {
-            intakePivotSubsystem.setPivotSpeed(mechController.getRightTriggerAxis());
-        }));
 
         bButton.onTrue(new InstantCommand(() -> {
-          feederSubsystem.setFeederMotorSpeed(.7);
+          shooterFeederSubsystem.setFeederMotorSpeed(.7);
         }));
 
         bButton.onFalse(new InstantCommand(() -> {
-          feederSubsystem.setFeederMotorSpeed(0);
+          shooterFeederSubsystem.setFeederMotorSpeed(0);
         }));
 
         xButton.onTrue(new InstantCommand(() -> {
-          feederSubsystem.setFeederMotorSpeed(-.7);
+          shooterFeederSubsystem.setFeederMotorSpeed(-.7);
         }));
 
         xButton.onFalse(new InstantCommand(() -> {
-          feederSubsystem.setFeederMotorSpeed(0);
+          shooterFeederSubsystem.setFeederMotorSpeed(0);
         }));
 
         shooterPivotSubsystem.setDefaultCommand(new InstantCommand(() -> {
             shooterPivotSubsystem.setPivotMotorSpeed((.2 * mechController.getRightTriggerAxis() - mechController.getLeftTriggerAxis()));
             // pivotSubsystem.printCurrentAngle();
         }, shooterPivotSubsystem));
 
+        aButton.onTrue(new InstantCommand(() -> {
+          shooterFlywheelSubsystem.setShooterMotorSpeed(shooterFlywheelSubsystem.SHOOTER_MOTOR_SPEED);
+        }));
+
+        aButton.onFalse(new InstantCommand(() -> {
+          shooterFlywheelSubsystem.setShooterMotorSpeed(0);
+        }));
+
+        intakeRollerSubsystem.setDefaultCommand(new InstantCommand(() -> {
+          if(mechController.getPOV() == 90){
+            intakeRollerSubsystem.setAllRollSpeed(.3, .3);
+          } else if (mechController.getPOV() == 270){
+            intakeRollerSubsystem.setAllRollSpeed(-.3, -.3);
+          } else {
+            intakeRollerSubsystem.setAllRollSpeed(0, 0);
+          }
+        }));
+
+
+
+
         if(baseSwerveSubsystem instanceof SwerveSubsystem){
           final SwerveSubsystem swerveSubsystem = (SwerveSubsystem) baseSwerveSubsystem;
 

diff --git a/src/main/java/frc/robot/commands/intake/pivot/IntakePivotExtendedCommand.java b/src/main/java/frc/robot/commands/intake/pivot/IntakePivotExtendedCommand.java
@@ -1,6 +1,6 @@
 package frc.robot.commands.intake.pivot;
 
-import static frc.robot.Constants.RollerandPivotConstants.pivotcounterclockwise;
+import static frc.robot.Constants.IntakeConstants.pivotcounterclockwise;
 
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.subsystems.intake.IntakePivotSubsystem; 

diff --git a/src/main/java/frc/robot/commands/intake/pivot/IntakePivotVerticalCommand.java b/src/main/java/frc/robot/commands/intake/pivot/IntakePivotVerticalCommand.java
@@ -2,7 +2,7 @@
 package frc.robot.commands.intake.pivot;
 
 
-import static frc.robot.Constants.RollerandPivotConstants.pivotclockwise;
+import static frc.robot.Constants.IntakeConstants.pivotclockwise;
 
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.subsystems.intake.IntakePivotSubsystem;

diff --git a/src/main/java/frc/robot/commands/intake/roller/IntakeRollerFeedCommand.java b/src/main/java/frc/robot/commands/intake/roller/IntakeRollerFeedCommand.java
@@ -1,8 +1,8 @@
 package frc.robot.commands.intake.roller;
 
-import static frc.robot.Constants.RollerandPivotConstants.pastsensortime;
-import static frc.robot.Constants.RollerandPivotConstants.rollersclockwise;
-import static frc.robot.Constants.RollerandPivotConstants.rollerscounterclockwise;
+import static frc.robot.Constants.IntakeConstants.pastsensortime;
+import static frc.robot.Constants.IntakeConstants.rollersclockwise;
+import static frc.robot.Constants.IntakeConstants.rollerscounterclockwise;
 
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.subsystems.intake.IntakeRollersSubsystem;

diff --git a/src/main/java/frc/robot/commands/intake/roller/IntakeRollerIntakeCommand.java b/src/main/java/frc/robot/commands/intake/roller/IntakeRollerIntakeCommand.java
@@ -1,8 +1,8 @@
 package frc.robot.commands.intake.roller;
 
 
-import static frc.robot.Constants.RollerandPivotConstants.rollersclockwise;
-import static frc.robot.Constants.RollerandPivotConstants.rollerscounterclockwise;
+import static frc.robot.Constants.IntakeConstants.rollersclockwise;
+import static frc.robot.Constants.IntakeConstants.rollerscounterclockwise;
 
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.subsystems.intake.IntakeRollersSubsystem;

diff --git a/src/main/java/frc/robot/commands/intake/roller/IntakeRollerOutakeCommand.java b/src/main/java/frc/robot/commands/intake/roller/IntakeRollerOutakeCommand.java
@@ -1,9 +1,9 @@
 package frc.robot.commands.intake.roller;
 
 
-import static frc.robot.Constants.RollerandPivotConstants.pastsensortime;
-import static frc.robot.Constants.RollerandPivotConstants.rollersclockwise;
-import static frc.robot.Constants.RollerandPivotConstants.rollerscounterclockwise;
+import static frc.robot.Constants.IntakeConstants.pastsensortime;
+import static frc.robot.Constants.IntakeConstants.rollersclockwise;
+import static frc.robot.Constants.IntakeConstants.rollerscounterclockwise;
 
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.subsystems.intake.IntakeRollersSubsystem;

diff --git a/src/main/java/frc/robot/subsystems/intake/IntakePivotSubsystem.java b/src/main/java/frc/robot/subsystems/intake/IntakePivotSubsystem.java
@@ -1,6 +1,6 @@
 package frc.robot.subsystems.intake;
 
-import static frc.robot.Constants.RollerandPivotConstants.*;
+import static frc.robot.Constants.IntakeConstants.*;
 //import edu.wpi.first.wpilibj.Encoder;
 import com.ctre.phoenix.motorcontrol.TalonSRXControlMode;
 import com.ctre.phoenix.motorcontrol.can.TalonSRX;
@@ -9,13 +9,13 @@
 
 
 public class IntakePivotSubsystem extends SubsystemBase{
-    private final com.ctre.phoenix.motorcontrol.can.TalonSRX motor1;
+    private final com.ctre.phoenix.motorcontrol.can.TalonSRX pivotMotor;
     // private final Encoder intakeencoder;
     private final DigitalInput extendedlimitswitch;
     private final DigitalInput retractedlimitswitch;
 
     public IntakePivotSubsystem(){
-        motor1 = new TalonSRX(motor1ID);
+        pivotMotor = new TalonSRX(PIVOT_MOTOR_ID);
         //intakeencoder = new Encoder(1,2);
         extendedlimitswitch = new DigitalInput(extendedlimitswitchID);
         retractedlimitswitch = new DigitalInput(retractedlimitswitchID);
@@ -30,7 +30,7 @@ public IntakePivotSubsystem(){
     // }
 
     public void movePivot(double speed){
-        motor1.set(TalonSRXControlMode.PercentOutput, speed);
+        pivotMotor.set(TalonSRXControlMode.PercentOutput, speed);
     }
 
     public boolean pivotisextended(){
@@ -52,7 +52,7 @@ public boolean pivotisretracted(){
     }
 
     public void setPivotSpeed(double right){
-        motor1.set(TalonSRXControlMode.PercentOutput, right);
+        pivotMotor.set(TalonSRXControlMode.PercentOutput, right);
       }
 
 

diff --git a/src/main/java/frc/robot/subsystems/intake/IntakeRollersSubsystem.java b/src/main/java/frc/robot/subsystems/intake/IntakeRollersSubsystem.java
@@ -6,25 +6,25 @@
 
 package frc.robot.subsystems.intake;
 
-import static frc.robot.Constants.RollerandPivotConstants.*;
+import static frc.robot.Constants.IntakeConstants.*;
 
 import com.ctre.phoenix.motorcontrol.TalonSRXControlMode;
 import com.ctre.phoenix.motorcontrol.can.TalonSRX;
 import edu.wpi.first.wpilibj.AnalogPotentiometer;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
 public class IntakeRollersSubsystem extends SubsystemBase {
-  private final TalonSRX topmotor;
-  private final TalonSRX bottommotor;
-  private final TalonSRX lastmotor;
+  private final TalonSRX frontMotor;
+  private final TalonSRX backMotor;
+  private final TalonSRX integrationMotor;
   private final AnalogPotentiometer sensor;
 
 
   /** Creates a new ExampleSubsystem. */
   public IntakeRollersSubsystem() {
-    lastmotor = new TalonSRX(lastmotorID);
-    topmotor = new TalonSRX(topmotorID);
-    bottommotor = new TalonSRX(bottommotorID);
+    integrationMotor = new TalonSRX(INTEGRATION_MOTOR_ID);
+    frontMotor = new TalonSRX(FRONT_MOTOR_ID);
+    backMotor = new TalonSRX(BACK_MOTOR_ID);
     sensor = new AnalogPotentiometer(sensorID);
   }
 
@@ -38,26 +38,26 @@ public boolean sensorNow(){
   }
 
   public void setRollSpeed(double top, double bottom){
-    topmotor.set(TalonSRXControlMode.PercentOutput, top);
-    bottommotor.set(TalonSRXControlMode.PercentOutput, bottom);
+    frontMotor.set(TalonSRXControlMode.PercentOutput, top);
+    backMotor.set(TalonSRXControlMode.PercentOutput, bottom);
   }
 
   public void setAllRollSpeed(double topone, double bottomone){
-    topmotor.set(TalonSRXControlMode.PercentOutput, topone);
-    lastmotor.set(TalonSRXControlMode.PercentOutput, topone);
-    bottommotor.set(TalonSRXControlMode.PercentOutput, bottomone);
+    frontMotor.set(TalonSRXControlMode.PercentOutput, topone);
+    integrationMotor.set(TalonSRXControlMode.PercentOutput, topone);
+    backMotor.set(TalonSRXControlMode.PercentOutput, bottomone);
   }
 
   public void setRollersOutwards(Boolean pressedA){
     if(pressedA==true)
-      topmotor.set(TalonSRXControlMode.PercentOutput, rollersclockwise);
-      bottommotor.set(TalonSRXControlMode.PercentOutput, rollerscounterclockwise);
+      frontMotor.set(TalonSRXControlMode.PercentOutput, rollersclockwise);
+      backMotor.set(TalonSRXControlMode.PercentOutput, rollerscounterclockwise);
   }
 
   public void setRollersInwards(Boolean pressedB){
     if(pressedB==true)
-      topmotor.set(TalonSRXControlMode.PercentOutput, rollersclockwise);
-      bottommotor.set(TalonSRXControlMode.PercentOutput, rollerscounterclockwise);
+      frontMotor.set(TalonSRXControlMode.PercentOutput, rollersclockwise);
+      backMotor.set(TalonSRXControlMode.PercentOutput, rollerscounterclockwise);
   }